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Control of two-wheel mobile platform with application to power wheelchairs

CONTROL OF TWO-WHEEL MOBILE PLATFORM WITH APPLICATION TO POWER
WHEELCHAIRS
by
Byungchan Jung
A Dissertation Presented to the
FACULTY OF THE USC GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(MECHANICAL ENGINEERING)
August 2012
Copyright 2012 Byungchan Jung

Modeling of two-wheel mobile platform, backstepping based controller design and hardware/software implementation are presented. ❧ Models with non-slipping and slipping are investigated. In the non-slipping case, nonholonomic constraints (no lateral motion and pure rolling) are embedded into the equations of motion. In addition to nonholonomic constraint, Lugre friction model is adopted to represent dynamic friction. ❧ Two backstepping based tracking controllers are developed for non-slipping dynamic model. Regular backstepping controller and backstepping controller combined with robust term to deal with varying parameters are designed. Lyapunov’s stability theory is used to verify the stability of designed controller. ❧ For slipping case, backstepping based controller and sliding mode combined backstepping controller are developed. Stability of both controllers are verified by Lyapunov’s stability theory. In addition to tracking capability, point stabilization is achieved in specific destination postures. Extensive simulation and visualization shows effectiveness of proposed controllers. ❧ Bezier curve combined with cubic spline velocity profile is considered for trajectory generation. Numerical integration approach for arc length parameterization is adopted to control segment length in Bezier curve. Curvature is also included into trajectory generation to adjust acceleration and deceleration for riding comfort and safety. ❧ Mobile platform based on commercial power wheelchair is implemented. Hardware components (Real-time controllers, Sensors, Power modules, Network devices) and software components (MATALB, SIMULINK, LabVIEW) are integrated and functions such as remote control, monitoring in the host PC are developed. Proposed controllers are implemented on the real-time controller and extensive test was conducted.

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CONTROL OF TWO-WHEEL MOBILE PLATFORM WITH APPLICATION TO POWER
WHEELCHAIRS
by
Byungchan Jung
A Dissertation Presented to the
FACULTY OF THE USC GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(MECHANICAL ENGINEERING)
August 2012
Copyright 2012 Byungchan Jung